johnny-five
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The JavaScript Robotics and Hardware Programming Framework. Use with: Arduino (all models), Electric Imp, Beagle Bone, Intel Galileo & Edison, Linino One, Pinoccio, pcDuino3, Raspberry Pi, Particle/Spark Core & Photon, Tessel 2, TI Launchpad and more!
1,701 lines (1,429 loc) • 78.5 kB
JavaScript
var Board = require("./board");
var Emitter = require("events").EventEmitter;
var util = require("util");
var Fn = require("./fn");
var int16 = Fn.int16;
var uint16 = Fn.uint16;
var uint24 = Fn.uint24;
var priv = new Map();
var activeDrivers = new Map();
// TODO: make real const
var ACCELEROMETER = "accelerometer";
var ALTIMETER = "altimeter";
var BAROMETER = "barometer";
var GYRO = "gyro";
var HYGROMETER = "hygrometer";
var MAGNETOMETER = "magnetometer";
var ORIENTATION = "orientation";
var THERMOMETER = "thermometer";
function Components(controller, options) {
var state = priv.get(this);
var descriptors = Object.create(null);
this.components.forEach(function(component) {
// TODO: Can this be put inside the get accessor?
// - Lazy init?
state[component] = new Components[component](
Object.assign({
controller: options.controller || controller,
freq: options.freq,
board: this.board,
}, options)
);
descriptors[component] = {
get: function() {
return state[component];
}
};
if (backwardCompatibilityGarbageHacks[component]) {
descriptors[backwardCompatibilityGarbageHacks[component]] = descriptors[component];
}
});
Object.defineProperties(this, descriptors);
}
Components.accelerometer = require("./accelerometer");
Components.altimeter = require("./altimeter");
Components.barometer = require("./barometer");
Components.gyro = require("./gyro");
Components.hygrometer = require("./hygrometer");
Components.magnetometer = require("./compass");
Components.orientation = require("./orientation");
Components.thermometer = require("./thermometer");
var backwardCompatibilityGarbageHacks = {
thermometer: "temperature",
};
var Drivers = {
// https://cdn-shop.adafruit.com/product-files/2857/Sensirion_Humidity_SHT3x_Datasheet_digital-767294.pdf
SHT31D: {
ADDRESSES: {
value: [0x44]
},
REGISTER: {
value: {
// Values are in 16-bit form
// to coincide with datasheet
//
// Table 13
SOFT_RESET: 0x30A2,
// Table 8
MEASURE_HIGH_REPEATABILITY: 0x2400,
}
},
initialize: {
value: function(board, opts) {
var READLENGTH = 6;
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
opts.address = address;
io.i2cConfig(opts);
// Soft Reset
io.i2cWrite(address, [
// Page 12
// Table 13
// See diagram
this.REGISTER.SOFT_RESET >> 8,
this.REGISTER.SOFT_RESET & 0xFF,
]);
// Page 10
// Table 8
// Send high repeatability measurement command
io.i2cWrite(address, [
this.REGISTER.MEASURE_HIGH_REPEATABILITY >> 8,
this.REGISTER.MEASURE_HIGH_REPEATABILITY & 0xFF,
]);
var computed = {
temperature: null,
humidity: null,
};
// temp msb, temp lsb, temp CRC, humidity msb, humidity lsb, humidity CRC
io.i2cRead(address, READLENGTH, function(data) {
computed.temperature = int16(data[0], data[1]);
computed.humidity = int16(data[3], data[4]);
this.emit("data", computed);
}.bind(this));
}
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.SHT31D.ADDRESSES.value[0];
return "sht-31d-" + address;
}
}
},
// https://www.adafruit.com/datasheets/1899_HTU21D.pdf
HTU21D: {
ADDRESSES: {
value: [0x40]
},
REGISTER: {
value: {
HUMIDITY: 0xE5,
TEMPERATURE: 0xE3,
SOFT_RESET: 0xFE,
}
},
initialize: {
value: function(board, opts) {
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
opts.address = address;
// The "no hold" measurement requires waiting
// _at least_ 22ms between register write and
// register read. Delay is measured in μs:
// 22ms = 22000μs; recommend 50ms = 50000μs
opts.delay = 50000;
io.i2cConfig(opts);
io.i2cWrite(address, this.REGISTER.SOFT_RESET);
var computed = {
temperature: null,
humidity: null,
};
var cycle = 0;
var readCycle = function() {
// Despite the registers being back to back, the HTU21D
// does not like when 5 bytes are requested, so we put
// the two data sources on their own read channels.
var isTemperatureCycle = cycle === 0;
var register = isTemperatureCycle ? this.REGISTER.TEMPERATURE : this.REGISTER.HUMIDITY;
io.i2cReadOnce(address, register, 2, function(data) {
if (isTemperatureCycle) {
computed.temperature = int16(data[0], data[1]);
} else {
computed.humidity = int16(data[0], data[1]);
}
if (++cycle === 2) {
cycle = 0;
this.emit("data", computed);
}
readCycle();
}.bind(this));
}.bind(this);
readCycle();
}
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.HTU21D.ADDRESSES.value[0];
return "htu-s1d-" + address;
}
}
},
// http://www.phanderson.com/arduino/I2CCommunications.pdf
// http://www.phanderson.com/arduino/CommandModeInstructions.pdf
// http://cdn.sparkfun.com/datasheets/Prototyping/1443945.pdf
HIH6130: {
ADDRESSES: {
value: [0x27]
},
initialize: {
value: function(board, opts) {
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
opts.address = address;
io.i2cConfig(opts);
var computed = {
humidity: null,
temperature: null,
};
var delay = 36.65;
var measureCycle = function() {
// The most common use cases involve continuous
// sampling of sensor data, so that's what this
// controller-driver will provide.
io.i2cWrite(address, 0xA0, [0x00, 0x00]);
setTimeout(function() {
io.i2cWrite(address, 0x80, [0x00, 0x00]);
io.i2cReadOnce(address, 4, function(data) {
// Page 2
// Figure 4. Humidity and Temperature Data Fetch, Four Byte Data Read
// B7:6 Contain status bits
var status = data[0] >> 6;
// Mask out B7:6 status bits from H MSB
computed.humidity = int16(data[0] & 0x3F, data[1]);
// Shift off B1:0 (which are empty)
computed.temperature = int16(data[2], data[3] >> 2);
// Page 3
// 2.6 Status Bits
//
// 0 0 Normal
// 0 1 Stale
// 1 0 Command Mode
// 1 1 Diagnostic Condition
//
// When the two status bits read "01", "stale" data is
// indicated. This means that the data that already
// exists in the sensor's output buffer has already
// been fetched by the Master, and has not yet been
// updated with the next data from the current measurement
// cycle. This can happen when the Master polls the
// data quicker than the sensor can update the output buffer.
if (status === 0) {
delay--;
}
if (status === 1) {
delay++;
}
this.emit("data", computed);
measureCycle();
}.bind(this));
// Page 3
// 3.0 Measurement Cycle
// The measurement cycle duration is typically
// 36.65 ms for temperature and humidity readings.
}.bind(this), delay);
}.bind(this);
measureCycle();
}
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.HIH6130.ADDRESSES.value[0];
return "hih6130-" + address;
}
}
},
DHT_I2C_NANO_BACKPACK: {
ADDRESSES: {
value: [0x0A]
},
REGISTER: {
value: {
READ: 0x00,
}
},
initialize: {
value: function(board, opts) {
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
// Correspond to firmware variables
var dhtPin = 2;
var dhtType = 11;
opts.address = address;
io.i2cConfig(opts);
var dhtVariantMatch = /(\d{2})/.exec(opts.controller)[0];
if (dhtVariantMatch) {
dhtType = +dhtVariantMatch;
if (Number.isNaN(dhtType)) {
dhtType = 11;
}
}
var computed = {
temperature: null,
humidity: null,
};
io.i2cWrite(address, [dhtPin, dhtType]);
io.i2cRead(address, 4, function(data) {
computed.humidity = int16(data[0], data[1]);
computed.temperature = int16(data[2], data[3]);
this.emit("data", computed);
}.bind(this));
}
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.DHT_I2C_NANO_BACKPACK.ADDRESSES.value[0];
return "dht_i2c_nano_backpack-" + address;
}
}
},
// Based on the example code from
// http://playground.arduino.cc/Main/MPU-6050
// http://www.invensense.com/mems/gyro/mpu6050.html
MPU6050: {
ADDRESSES: {
value: [0x68, 0x69]
},
REGISTER: {
value: {
SETUP: [0x6B, 0x00], // += 250
READ: 0x3B
}
},
initialize: {
value: function(board, opts) {
var READLENGTH = 14;
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
opts.address = address;
var computed = {
accelerometer: {},
temperature: {},
gyro: {}
};
io.i2cConfig(opts);
io.i2cWrite(address, this.REGISTER.SETUP);
io.i2cRead(address, this.REGISTER.READ, READLENGTH, function(data) {
computed.accelerometer = {
x: int16(data[0], data[1]),
y: int16(data[2], data[3]),
z: int16(data[4], data[5])
};
computed.temperature = int16(data[6], data[7]);
computed.gyro = {
x: int16(data[8], data[9]),
y: int16(data[10], data[11]),
z: int16(data[12], data[13])
};
this.emit("data", computed);
}.bind(this));
},
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.MPU6050.ADDRESSES.value[0];
return "mpu-6050-" + address;
}
}
},
BNO055: {
ADDRESSES: {
value: [0x28, 0x29]
},
REGISTER: {
value: {
//
// 4.2.1 Register map Page 0
//
READ: {
/*
All motion data is in the following order:
X LSB
X MSB
Y LSB
Y MSB
Z LSB
Z MSB
The quarternion data is WXYZ
W LSB
W MSB
X LSB
X MSB
Y LSB
Y MSB
Z LSB
Z MSB
*/
// m/s^2 by default
ACCEL: 0x08, // X LSB
// ? by default
MAG: 0x0E, // X LSB
// dps by default
GYRO: 0x14, // X LSB
//euler angles - degrees
EULER: 0x1A, // heading LSB
//quarternion
QUARTERNION: 0x20, // W LSB
// °C by default
TEMP: 0x34,
},
LENGTH: {
ACCEL: 6,
MAG: 6,
GYRO: 6,
EULER: 6,
QUARTERNION: 8,
TEMP: 1,
},
OPR_MODE_ADDR: 0x3D,
OPR_MODES: {
CONFIG: 0x00,
ACCONLY: 0x01,
MAGONLY: 0x02,
GYRONLY: 0x03,
ACCMAG: 0x04,
ACCGYRO: 0x05,
MAGGYRO: 0x06,
AMG: 0x07,
IMUPLUS: 0x08,
COMPASS: 0x09,
M4G: 0x0A,
NDOF_FMC_OFF: 0x0B,
NDOF: 0x0C,
},
PWR_MODE_ADDR: 0x3E,
PWR_MODES: {
NORMAL: 0x00,
LOW: 0x01,
SUSPEND: 0x02,
},
PAGE_ID_ADDR: 0x07,
PAGE_STATES: {
ZERO: 0x00,
},
CALIBRATION: 0x35,
SYS_TRIGGER: 0x3F,
UNIT_SEL_ADDR: 0x3B,
AXIS_MAP_CONFIG_ADDR: 0x41,
AXIS_MAP_SIGN_ADDR: 0x42,
}
},
initialize: {
value: function(board, opts) {
// Datasheet references:
//
// QS: https://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST-BNO055-AN007-00_Quick_Start_Guide.pdf
//
// AF: https://www.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf
//
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
// AF. Page 67 4.3.54
//a value for what we use to consider the system calibrated, 0xC0 represents the just fusion algorithm/system
var calibrationMask = opts.calibrationMask || 0xC0;
opts.address = address;
var computed = {
accelerometer: {
x: null,
y: null,
z: null,
},
gyro: {
x: null,
y: null,
z: null,
},
magnetometer: {
x: null,
y: null,
z: null,
},
orientation: {
euler: {
heading: null,
roll: null,
pitch: null,
},
quarternion: {
w: null,
x: null,
y: null,
z: null,
},
},
temperature: null,
calibration: null,
};
io.i2cConfig(opts);
// Put chip into CONFIG operation mode
io.i2cWriteReg(address, this.REGISTER.OPR_MODE_ADDR, this.REGISTER.OPR_MODES.CONFIG);
// Set register page to 0
io.i2cWriteReg(address, this.REGISTER.PAGE_ID_ADDR, this.REGISTER.PAGE_STATES.ZERO);
// AF Page 70, 4.3.63 SYS_TRIGGER
//
// RST_SYS (Set to reset system)
//
// B7 B6 B5 B4 B3 B2 B1 B0
// 0 0 1 0 0 0 0 0
//
io.i2cWriteReg(address, this.REGISTER.SYS_TRIGGER, 0x20);
var por = new Promise(function(resolve) {
setTimeout(function() {
// Normal power mode
io.i2cWriteReg(address, this.REGISTER.PWR_MODE_ADDR, this.REGISTER.PWR_MODES.NORMAL);
// AF Page 70, 4.3.63 SYS_TRIGGER
//
// CLK_SEL:
//
// B7 B6 B5 B4 B3 B2 B1 B0
// 0 0 0 0 0 0 0 0
//
//io.i2cWriteReg(address, this.REGISTER.SYS_TRIGGER, 0x00);
// do we want to enable an external crystal??
io.i2cWriteReg(address, this.REGISTER.SYS_TRIGGER, opts.enableExternalCrystal ? 0x80 : 0x00);
//AF Page 24 3.4, Axis remap
//
// AXIS_MAP_CONFIG:
//
// B7 B6 B5 B4 B3 B2 B1 B0
// 0 0 0 0 0 0 0 0
// - - z z y y x x
//
// x axis = 00, y axis = 01, z axis = 10
//
// see also the defaults starting on AF Page 50
//
var axisMap = opts.axisMap || 0x24;
io.i2cWriteReg(address, this.REGISTER.AXIS_MAP_CONFIG_ADDR, axisMap);
//AF Page 24 3.4, Axis remap
//
// AXIS_MAP_CONFIG:
//
// B7 B6 B5 B4 B3 B2 B1 B0
// 0 0 0 0 0 0 0 0
// - - - - - x y z
//
// 0 = positive, 1 = negative
//
var axisSign = opts.axisSign || 0x00;
io.i2cWriteReg(address, this.REGISTER.AXIS_MAP_SIGN_ADDR, axisSign);
// Set operational mode to "nine degrees of freedom"
setTimeout(function() {
io.i2cWriteReg(address, this.REGISTER.OPR_MODE_ADDR, this.REGISTER.OPR_MODES.NDOF);
resolve();
}.bind(this), 10);
// OPERATING CONDITIONS BNO055
// AF Page 13, 1.2, OPERATING CONDITIONS BNO055
// From reset to config mode
}.bind(this), 650);
}.bind(this));
por.then(function() {
return new Promise(function(resolve) {
var readCalibration = function() {
io.i2cReadOnce(address, this.REGISTER.CALIBRATION, 1, function(data) {
var calibration = data[0];
var didCalibrationChange = computed.calibration !== calibration;
computed.calibration = calibration;
// it is useful, possibly to know when the calibration state changes
// some of the calibrations are a little picky to get right, so emitting
// the calibration state as it changes is useful.
// grab the calibration
if (didCalibrationChange) {
this.emit("calibration", computed.calibration);
}
if ((calibration & calibrationMask) === calibrationMask) {
// emit the calibration state so we can work out in our userspace if
// we are good to go, and for when we are performing the calibration steps
// let everyone know we are calibrated..
this.emit("calibrated");
resolve();
} else {
readCalibration();
}
}.bind(this));
}.bind(this);
readCalibration();
}.bind(this));
}.bind(this)).then(function() {
// Temperature requires no calibration, begin reading immediately
// here we read out temp, and the calibration state since they are back to back
// and the device can, has been observed to go out of calibration and we may want to check
io.i2cRead(address, this.REGISTER.READ.TEMP, 2, function(data) {
computed.temperature = data[0];
var didCalibrationChange = computed.calibration !== data[1];
computed.calibration = data[1];
this.emit("data", computed);
if (didCalibrationChange) {
this.emit("calibration", computed.calibration);
}
}.bind(this));
// ACCEL, MAG and GYRO are 6 bytes each => 18 bytes total
io.i2cRead(address, this.REGISTER.READ.ACCEL, 18, function(data) {
computed.accelerometer = {
x: int16(data[1], data[0]),
y: int16(data[3], data[2]),
z: int16(data[5], data[4])
};
computed.magnetometer = {
x: int16(data[7], data[6]),
y: int16(data[9], data[8]),
z: int16(data[11], data[10])
};
computed.gyro = {
x: int16(data[13], data[12]),
y: int16(data[15], data[14]),
z: int16(data[17], data[16])
};
this.emit("data", computed);
}.bind(this));
// moved the ndof/quarternions to their own read.. bytes go missing, lots of 32 byte buffers everywhere
io.i2cRead(address, this.REGISTER.READ.EULER, 14, function(data) {
// raw euler
computed.orientation.euler = {
heading: int16(data[1], data[0]),
roll: int16(data[3], data[2]),
pitch: int16(data[5], data[4])
};
// scaled quarternion - unitless
computed.orientation.quarternion = {
w: int16(data[7], data[6]),
x: int16(data[9], data[8]),
y: int16(data[11], data[10]),
z: int16(data[13], data[12])
};
this.emit("data", computed);
}.bind(this));
}.bind(this));
},
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.BNO055.ADDRESSES.value[0];
return "bno055-" + address;
}
}
},
MPL115A2: {
ADDRESSES: {
value: [0x60]
},
REGISTER: {
value: {
// Page 5
// Table 2. Device Memory Map
COEFFICIENTS: 0x04,
PADC_MSB: 0x00,
CONVERT: 0x12,
}
},
initialize: {
value: function(board, opts) {
/*
Datasheet Reference:
http://cache.freescale.com/files/sensors/doc/data_sheet/MPL115A2.pdf
*/
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
opts.address = address;
io.i2cConfig(opts);
var computed = {
pressure: null,
temperature: null,
};
var cof = {
a0: null,
b1: null,
b2: null,
c12: null
};
var handler = function(data) {
// Page 5
// 3.1 Pressure, Temperature and Coefficient Bit-Width Specifications
var Padc = uint16(data[0], data[1]) >> 6;
var Tadc = uint16(data[2], data[3]) >> 6;
// Page 6
// 3.2 Compensation
computed.pressure = cof.a0 + (cof.b1 + cof.c12 * Tadc) * Padc + cof.b2 * Tadc;
computed.temperature = Tadc;
this.emit("data", computed);
readCycle();
}.bind(this);
var readCycle = function() {
io.i2cWriteReg(address, this.REGISTER.CONVERT, 0x00);
// Page 5
// Table 2. Device Memory Map
// Starting from PADC_MSB, read 4 bytes:
//
// Padc_MSB
// Padc_LSB
// Tadc_MSB
// Tadc_LSB
//
io.i2cReadOnce(address, this.REGISTER.PADC_MSB, 4, handler);
// TODO: User specified "frequency" needs to be applied here.
}.bind(this);
var pCoefficients = new Promise(function(resolve) {
io.i2cReadOnce(address, this.REGISTER.COEFFICIENTS, 8, function(data) {
var A0 = int16(data[0], data[1]);
var B1 = int16(data[2], data[3]);
var B2 = int16(data[4], data[5]);
var C12 = int16(data[6], data[7]) >> 2;
// Source:
// https://github.com/adafruit/Adafruit_MPL115A2
// a0 is the pressure offset coefficient
// b1 is the pressure sensitivity coefficient
// b2 is the temperature coefficient of offset (TCO)
// c12 is the temperature coefficient of sensitivity (TCS)
cof.a0 = A0 / 8;
cof.b1 = B1 / 8192;
cof.b2 = B2 / 16384;
cof.c12 = C12 / 4194304;
resolve();
}.bind(this));
}.bind(this));
pCoefficients.then(readCycle);
},
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.MPL115A2.ADDRESSES.value[0];
return "mpl115a2-" + address;
}
}
},
// Based off of the AdaFruit Arduino library for this chip
// https://github.com/adafruit/Adafruit_MPL3115A2_Library
MPL3115A2: {
ADDRESSES: {
value: [0x60]
},
REGISTER: {
// Page 18
// 13 Register descriptions
value: {
STATUS: 0x00,
PRESSURE: 0x01,
CONFIG: 0x13,
BAR_IN_MSB: 0x14,
BAR_IN_LSB: 0x15,
CONTROL: 0x26,
}
},
MASK: {
value: {
STATUS: {
PRESSURE_DATA_READ: 0x04
},
CONTROL: {
SBYB: 0x01,
OS128: 0x38,
ALTIMETER: 0x80,
PRESSURE: 0x00
},
CONFIG: {
TDEFE: 0x01,
PDEFE: 0x02,
DREM: 0x04
}
}
},
initialize: {
value: function(board, opts) {
var READLENGTH = 6;
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
var isPressure = false;
var elevation = null;
var offset = 0;
opts.address = address;
// See http://www.henrylahr.com/?p=99 for implementation approach
//
var altNow = 0;
var computed = {
pressure: 0,
altitude: 0,
temperature: 0
};
if (typeof opts.elevation !== "undefined") {
elevation = opts.elevation;
}
if (elevation !== null && elevation <= 0) {
offset = Math.abs(elevation) + 1;
elevation = 1;
}
var waitForReady = function(next) {
io.i2cReadOnce(address, this.REGISTER.STATUS, 1, function(data) {
if (data[0] & this.MASK.STATUS.PRESSURE_DATA_READ) {
next();
} else {
setTimeout(function() {
waitForReady(next);
}, 100);
}
}.bind(this));
}.bind(this);
var readValues = function() {
var modeMask = isPressure ? this.MASK.CONTROL.PRESSURE : this.MASK.CONTROL.ALTIMETER;
var mode = this.MASK.CONTROL.SBYB | this.MASK.CONTROL.OS128 | modeMask;
io.i2cWrite(address, this.REGISTER.CONTROL, mode);
waitForReady(function() {
io.i2cReadOnce(address, this.REGISTER.PRESSURE, READLENGTH, function(data) {
var value = uint24(data[1], data[2], data[3]) >> 4;
var temperature = uint16(data[4], data[5]) >> 4;
var altVal;
computed.temperature = temperature;
if (isPressure) {
computed.pressure = value;
this.emit("data", computed);
} else {
var m = data[1];
var c = data[2];
var l = data[3];
var fl = (l >> 4) / 16;
altVal = (m << 8 | c) + fl;
altNow = (altNow * 3 + altVal) / 4;
computed.altitude = altNow - offset;
}
isPressure = !isPressure;
readValues();
}.bind(this));
}.bind(this));
}.bind(this);
var reads = [];
var calibrate = function() {
// Clear Oversampling and OST
io.i2cWrite(address, this.REGISTER.CONTROL, 0x3B);
io.i2cWrite(address, this.REGISTER.CONTROL, 0x39);
setTimeout(function() {
io.i2cReadOnce(address, this.REGISTER.PRESSURE, READLENGTH, function(data) {
var m = data[1];
var c = data[2];
var l = data[3];
var fl = (l >> 4) / 4;
reads.push((m << 10 | c << 2) + fl);
if (reads.length === 4) {
var curpress = (reads[0] + reads[1] + reads[2] + reads[3]) / 4;
var seapress = curpress / Math.pow(1 - elevation * 0.0000225577, 5.255);
// Update Barometric input for Altitude
io.i2cWrite(address, this.REGISTER.BAR_IN_MSB, (seapress / 2) >> 8);
io.i2cWrite(address, this.REGISTER.BAR_IN_LSB, (seapress / 2) & 0xFF);
// Get into Altitude mode
// One shot & OST bit
io.i2cWrite(address, this.REGISTER.CONTROL, 0xBB);
io.i2cWrite(address, this.REGISTER.CONTROL, 0xB9);
setTimeout(function() {
io.i2cReadOnce(address, this.REGISTER.PRESSURE, READLENGTH, function(data) {
var m = data[1];
var c = data[2];
var l = data[3];
var fl = (l >> 4) / 16;
altNow = (m << 8 | c) + fl;
readValues(false);
});
}.bind(this), 550);
} else {
calibrate();
}
}.bind(this));
}.bind(this), 500);
}.bind(this);
io.i2cConfig(
Object.assign(opts, {
settings: {
stopTX: true
}
})
);
// configure the chip
// Set Altitude Offset.
io.i2cWriteReg(address, 0x2D, 0x00);
io.i2cWriteReg(address, this.REGISTER.BAR_IN_MSB, 0);
io.i2cWriteReg(address, this.REGISTER.BAR_IN_LSB, 0);
io.i2cWriteReg(address, this.REGISTER.CONFIG,
this.MASK.CONFIG.TDEFE |
this.MASK.CONFIG.PDEFE |
this.MASK.CONFIG.DREM);
if (elevation !== null) {
calibrate();
} else {
readValues();
}
}
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.MPL3115A2.ADDRESSES.value[0];
return "mpl3115a2-" + address;
}
}
},
BMP180: {
ADDRESSES: {
value: [0x77]
},
REGISTER: {
value: {
COEFFICIENTS: 0xAA,
READ: 0x00,
READ_START: 0xF4,
READ_RESULT: 0xF6,
}
},
initialize: {
value: function(board, opts) {
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
var elevation = null;
var offset = 0;
if (typeof opts.elevation !== "undefined") {
elevation = opts.elevation;
}
if ((elevation != null && elevation <= 0) ||
elevation == null) {
offset = Math.abs(elevation) + 1;
elevation = 1;
}
opts.address = address;
/**
* https://cdn-shop.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf
* Table 1: Operating conditions, output signal and mechanical characteristics
*
* Pressure Conversion Delay (ms)
*
* [
* 5, LOW
* 8, STANDARD
* 14, HIGH
* 26, ULTRA
* ]
*
* These numbers are derived from rounding the Max column of
* Table 1, for the Conversion Time entries.
*/
var mode = opts.mode || 3;
var kpDelay = [5, 8, 14, 26][mode];
var oss = Fn.constrain(mode, 0, 3);
var cof = {
a1: null,
a2: null,
a3: null,
a4: null,
a5: null,
a6: null,
b1: null,
b2: null,
b5: null,
mb: null,
mc: null,
md: null,
};
io.i2cConfig(opts);
var pCoefficients = new Promise(function(resolve) {
io.i2cReadOnce(address, this.REGISTER.COEFFICIENTS, 22, function(data) {
// https://www.sparkfun.com/datasheets/Components/General/BST-BMP085-DS000-05.pdf
// Page 12
// 3.4 Calibration Coefficients
//
// http://www.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf
// Page 13
// 3.4 Calibration Coefficients
//
cof.a1 = int16(data[0], data[1]);
cof.a2 = int16(data[2], data[3]);
cof.a3 = int16(data[4], data[5]);
cof.a4 = uint16(data[6], data[7]);
cof.a5 = uint16(data[8], data[9]);
cof.a6 = uint16(data[10], data[11]);
cof.b1 = int16(data[12], data[13]);
cof.b2 = int16(data[14], data[15]);
cof.mb = int16(data[16], data[17]);
cof.mc = int16(data[18], data[19]);
cof.md = int16(data[20], data[21]);
resolve();
});
}.bind(this));
pCoefficients.then(function() {
// https://www.sparkfun.com/datasheets/Components/General/BST-BMP085-DS000-05.pdf
// Pages 10, 11
// 3.3 Measurement of pressure and temperature
// Pages 12, 13, 14
// 3.5 Calculating pressure and temperature
//
// http://www.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf
// Pages 11, 12
// 3.3 Measurement of pressure and temperature
// Pages 13, 14, 15, 16
// 3.5 Calculating pressure and temperature
//
var computed = {
altitude: null,
pressure: null,
temperature: null,
};
var cycle = 0;
// http://www.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf
// Pages 11, 15
// 3.3 Measurement of pressure and temperature
// 3.5 Calculating pressure and temperature
var readCycle = function() {
// cycle 0: temperature
// cycle 1: pressure
var isTemperatureCycle = cycle === 0;
var component = isTemperatureCycle ? 0x2E : 0x34 + (oss << 6);
var numBytes = isTemperatureCycle ? 2 : 3;
var delay = isTemperatureCycle ? 5 : kpDelay;
io.i2cWriteReg(address, this.REGISTER.READ_START, component);
// Once the READ_START register is set,
// delay the READ_RESULT request based on the
// mode value provided by the user, or default.
setTimeout(function() {
io.i2cReadOnce(address, this.REGISTER.READ_RESULT, numBytes, function(data) {
var compensated, uncompensated;
var x1, x2, x3, b3, b4, b6, b7, b6s, bx;
if (isTemperatureCycle) {
// TEMPERATURE
uncompensated = int16(data[0], data[1]);
// Compute the true temperature
x1 = ((uncompensated - cof.a6) * cof.a5) >> 15;
x2 = ((cof.mc << 11) / (x1 + cof.md)) >> 0;
// Compute b5, which is used by the pressure cycle
cof.b5 = (x1 + x2) | 0;
// Steps of 0.1°C
computed.temperature = ((cof.b5 + 8) >> 4) / 10;
} else {
// PRESSURE
uncompensated = uint24(data[0], data[1], data[2]) >> (8 - oss);
b6 = cof.b5 - 4000;
b6s = b6 * b6;
bx = b6s >> 12;
// Intermediary x1 & x2 to calculate x3 for b3
x1 = (cof.b2 * bx) >> 11;
x2 = (cof.a2 * b6) >> 11;
x3 = x1 + x2;
b3 = ((((cof.a1 * 4 + x3) << oss) + 2) / 4) >> 0;
// Intermediary x1 & x2 to calculate x3 for b4
x1 = (cof.a3 * b6) >> 13;
x2 = (cof.b1 * bx) >> 16;
x3 = ((x1 + x2) + 2) >> 2;
b4 = (cof.a4 * (x3 + 32768)) >> 15;
b7 = (uncompensated - b3) * (50000 >> oss);
if (b7 < Fn.POW_2_31) {
compensated = (b7 * 2) / b4;
} else {
compensated = (b7 / b4) * 2;
}
compensated >>= 0;
x1 = (compensated >> 8) * (compensated >> 8);
x1 = (x1 * 3038) >> 16;
x2 = (-7357 * compensated) >> 16;
compensated += (x1 + x2 + 3791) >> 4;
// Steps of 1Pa (= 0.01hPa = 0.01mbar) (=> 0.001kPa)
computed.pressure = compensated;
// 3.7 Calculating pressure at sea level
var seapress = compensated / Math.pow(1 - elevation * 0.0000225577, 5.255);
var altitude = 44330 * (1 - Math.pow(compensated / seapress, 1 / 5.255));
// Page 3 (of BMP280 Datasheet)
// ...relative accuracy is ±0.12 hPa, which is equivalent to
// ±1 m difference in altitude.
computed.altitude = Math.round(altitude - offset);
}
if (++cycle === 2) {
cycle = 0;
this.emit("data", computed);
}
readCycle();
}.bind(this));
}.bind(this), delay);
}.bind(this);
// Kick off "read loop"
//
readCycle();
}.bind(this));
}
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.BMP180.ADDRESSES.value[0];
return "bmp180-" + address;
}
}
},
BMP280: {
ADDRESSES: {
value: [0x77]
},
REGISTER: {
value: {
COEFFICIENTS: 0x88,
CONFIG: 0xF5,
MEASURE: 0xF4,
// 0xF7, 0xF8, 0xF9
// MSB, LSB, XLSB
PRESSURE: 0xF7,
// 0xFA, 0xFB, 0xFC
// MSB, LSB, XLSB
TEMPERATURE: 0xFA,
RESET: 0xE0,
}
},
initialize: {
value: function(board, opts) {
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
var elevation = null;
var offset = 0;
if (typeof opts.elevation !== "undefined") {
elevation = opts.elevation;
}
if ((elevation != null && elevation <= 0) ||
elevation == null) {
offset = Math.abs(elevation) + 1;
elevation = 1;
}
opts.address = address;
/**
* All page numbers refer to pages in:
* https://cdn-shop.adafruit.com/datasheets/BST-BMP280-DS001-11.pdf
*
*/
var dig = {
T1: null,
T2: null,
T3: null,
P1: null,
P2: null,
P3: null,
P4: null,
P5: null,
P6: null,
P7: null,
P8: null,
P9: null,
};
io.i2cConfig(opts);
// Page. 24
// 4.3.2 Register 0xE0 "reset"
io.i2cWrite(address, this.REGISTER.RESET, 0xB6);
var pCoefficients = new Promise(function(resolve) {
io.i2cReadOnce(address, this.REGISTER.COEFFICIENTS, 24, function(data) {
// Page 21, Table 17
// Compensation parameter storage, naming and data type
// These are received LSB FIRST
//
dig.T1 = uint16(data[1], data[0]);
dig.T2 = int16(data[3], data[2]);
dig.T3 = int16(data[5], data[4]);
dig.P1 = uint16(data[7], data[6]);
dig.P2 = int16(data[9], data[8]);
dig.P3 = int16(data[11], data[10]);
dig.P4 = int16(data[13], data[12]);
dig.P5 = int16(data[15], data[14]);
dig.P6 = int16(data[17], data[16]);
dig.P7 = int16(data[19], data[18]);
dig.P8 = int16(data[21], data[20]);
dig.P9 = int16(data[23], data[22]);
resolve();
});
}.bind(this));
pCoefficients.then(function() {
/*
CTRL_MEAS bits
| DATA LSB |
| 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| - | - | - | - | - | - | - | - |
| 0 | 0 | 1 | 1 | 1 | 1 | 1 | 1 |
*/
io.i2cWrite(address, this.REGISTER.MEASURE, 0x3F);
var computed = {
altitude: null,
pressure: null,
temperature: null,
};
//
// Page 12
// 3.3.1 Pressure measurement
//
// Page 13
// 3.3.2 Temperature measurement
//
io.i2cRead(address, this.REGISTER.PRESSURE, 6, function(data) {
var compensated = 0;
// Page 45
// "Returns temperature in DegC, double precision. Output value of
// '51.23' equals 51.23 DegC. t_fine carries fine temperature as global value"
var fine;
// var1, var2
//
// Expect:
//
// int32
//
var v1, v2;
// Page 44
// "Both pressure and temperature values are expected to be
// received in 20 bit format, positive, stored in a 32 bit signed integer. "
//
// V = int32(uint24(m, l, xl))
// V >> 4;
//
// Page 45
var P = Fn.s32(uint24(data[0], data[1], data[2]));
var T = Fn.s32(uint24(data[3], data[4], data[5]));
P >>= 4;
T >>= 4;
// TEMPERATURE
// Page 45
// bmp280_compensate_T_int32
// var1 = ((((adc_T>>3) – ((BMP280_S32_t)dig_T1<<1))) *
// ((BMP280_S32_t)dig_T2)) >> 11;
// var2 = (((((adc_T>>4) – ((BMP280_S32_t)dig_T1)) *
// ((adc_T>>4) – ((BMP280_S32_t)dig_T1))) >> 12) *
// ((BMP280_S32_t)dig_T3)) >> 14;
//
//
var adc16 = T >> 4;
var adc16subT1 = adc16 - dig.T1;
v1 = (((T >> 3) - (dig.T1 << 1)) * dig.T2) >> 11;
v2 = (((adc16subT1 * adc16subT1) >> 12) * dig.T3) >> 14;
// t_fine = var1 + var2;
fine = v1 + v2;
// Page 7, 8
// Table 2: Parameter specification
//
//
// Temperature 0.01 °C
//
// As toFixed(2)
//
// C = +(((t_fine * 5 + 128) >> 8) / 100).toFixed(resolution)
//
computed.temperature = ((fine * 5 + 128) >> 8) / 100;
v1 = undefined;
v2 = undefined;
// PRESSURE
// Page 46
// bmp280_compensate_P_int32
//
// Every single seemingly arbitrary magic number comes from the datasheet.
// Datasheets are evidently written by people that don't care about
// anyone else actually understanding how a thing works.
//
// var1 = (((BMP280_S32_t)t_fine)>>1) – (BMP280_S32_t)64000;
v1 = Fn.s32(fine >> 1) - 64000;
// var2 = (((var1>>2) * (var1>>2)) >> 11 ) * ((BMP280_S32_t)dig_P6);
v2 = (((v1 >> 2) * (v1 >> 2)) >> 11) * Fn.s32(dig.P6);
// var2 = var2 + ((var1*((BMP280_S32_t)dig_P5))<<1);
v2 += (v1 * Fn.s32(dig.P5)) << 1;
// var2 = (var2>>2)+(((BMP280_S32_t)dig_P4)<<16);
v2 = (v2 >> 2) + (Fn.s32(dig.P4) << 16);
// var1 = (((dig_P3 * (((var1>>2) * (var1>>2)) >> 13 )) >> 3) +
// ((((BMP280_S32_t)dig_P2) * var1)>>1))>>18;
v1 = (((dig.P3 * (((v1 >> 2) * (v1 >> 2)) >> 13)) >> 3) + ((Fn.s32(dig.P2) * v1) >> 1)) >> 18;
// var1 =((((32768+var1))*((BMP280_S32_t)dig_P1))>>15);
v1 = (((Fn.POW_2_15 + v1) * Fn.s32(dig.P1)) >> 15);
if (v1 === 0) {
// Prevent division by zero
return 0;
}
// p = (((BMP280_U32_t)(((BMP280_S32_t)1048576)-adc_P)-(var2>>12)))*3125;
compensated = Fn.u32((Fn.s32(Fn.POW_2_20) - P) - (v2 >> 12)) * 3125;
if (compensated < Fn.POW_2_31) {
// p = (p << 1) / ((BMP280_U32_t)var1);
compensated = ((compensated << 1) >>> 0) / Fn.u32(v1);
} else {
// p = (p / (BMP280_U32_t)var1) * 2;
compensated = ((compensated / Fn.u32(v1)) >>> 0) * 2;
}
compensated = Fn.u32(compensated) >>> 0;
// var1 = (((BMP280_S32_t)dig_P9) * ((BMP280_S32_t)(((p>>3) * (p>>3))>>13)))>>12;
var compshift3r = compensated >> 3;
v1 = (Fn.s32(dig.P9) * Fn.s32(((compshift3r * compshift3r) >> 13))) >> 12;
// var2 = (((BMP280_S32_t)(p>>2)) * ((BMP280_S32_t)dig_P8))>>13;
v2 = (Fn.s32(compensated >> 2) * Fn.s32(dig.P8)) >> 13;
// p = (BMP280_U32_t)((BMP280_S32_t)p + ((var1 + var2 + dig_P7) >> 4));
compensated = Fn.u32(Fn.s32(compensated) + ((v1 + v2 + dig.P7) >> 4));
// Steps of 1Pa (= 0.01hPa = 0.01mbar) (=> 0.001kPa)
computed.pressure = compensated;
// Calculating pressure at sea level (copied from BMP180)
var seapress = compensated / Math.pow(1 - elevation * 0.0000225577, 5.255);
var altitude = 44330 * (1 - Math.pow(compensated / seapress, 1 / 5.255));
// Page 3
// ...relative accuracy is ±0.12 hPa, which is equivalent to
// ±1 m difference in altitude.
computed.altitude = Math.round(altitude - offset);
this.emit("data", computed);
}.bind(this));
}.bind(this));
}
},
identifier: {
value: function(opts) {
var address = opts.address || Drivers.BMP280.ADDRESSES.value[0];
return "bmp280-" + address;
}
}
},
BME280: {
ADDRESSES: {
value: [0x77]
},
REGISTER: {
value: {
COEFFICIENTS_TP: 0x88,
COEFFICIENTS_H: 0xE1,
CONFIG: 0xF5,
MEASURE_H: 0xF2,
MEASURE_TP: 0xF4,
// 0xF7, 0xF8, 0xF9
// MSB, LSB, XLSB
PRESSURE: 0xF7,
// 0xFA, 0xFB, 0xFC
// MSB, LSB, XLSB
TEMPERATURE: 0xFA,
// 0xFD, 0xFE
// MSB, LSB
RESET: 0xE0,
}
},
initialize: {
value: function(board, opts) {
var io = board.io;
var address = opts.address || this.ADDRESSES[0];
var elevation = null;
var offset = 0;
if (typeof opts.elevation !== "undefined") {
elevation = opts.elevation;
}
if ((elevation != null && elevation <= 0) ||
elevation == null) {
offset = Math.abs(elevation) + 1;
elevation = 1;
}
opts.address = address;
/**
* All page numbers refer to pages in:
* https://cdn.sparkfun.com/assets/learn_tutorials/4/1/9/BST-BME280_DS001-10.pdf
*
*/
var dig = {
T1: null,
T2: null,
T3: null,
P1: null,
P2: null,
P3: null,
P4: null,
P5: null,
P6: null,
P7: null,
P8: null,
P9: null,
H1: null,
H2: null,
H3: null,
H4: null,
H5: null,
H6: null,
};
io.i2cConfig(opts);
// Page. 24
// 4.3.2 Register 0xE0 "reset"
io.i2cWrite(address, this.REGISTER.RESET, 0xB6);
var pCoefficients = new Promise(function(resolveCoeffs) {
// Page 22,
// Table 16: Compensation parameter storage, naming and data type
// These are received LSB FIRST
//
// The H register is not contiguous!
Promise.all([
new Promise(function(resolve) {
io.i2cReadOnce(address, 0x88, 24, function(data) {
dig.T1 = uint16(data[1], data[0]);
dig.T2 = int16(data[3], data[2]);
dig.T3 = int16(data[5], data[4]);
dig.P1 = uint16(data[7], data[6]);
dig.P2 = int16(data[9], data[8]);
dig.P3 = int16(data[11], data[10]);
dig.P4 = int16(data[13], data[12]);
dig.P5 = int16(data[15], data[14]);
dig.P6 = int16(data[17], data[16]);
dig.P7 = int16(data[19], data[18]);
dig.P8 = Fn.s32(int16(data[21], data[20]));
dig.P9 = Fn.s32(int16(data[23], data[22]));
resolve();
});
}),
new Promise(function(resolve) {
io.i2cReadOnce(address, 0xA1, 1, function(data) {
dig.H1 = Fn.u8(data[0]);
resolve();
});
}),
new Promise(function(resolve) {
io.i2cReadOnce(address, 0xE1, 8, function(data) {
/*
0xE1 => data[0]
0xE2 => data[1]
0xE3 => data[2]
0xE4 => data[3]
0xE5 => data[4]
0xE6 => data[5]
0xE7 => data[6]
*/
// 0xE2 0xE1
// H2 [15:8] [7:0]
dig.H2 = Fn.s32(int16(data[1], data[0]));
// 0xE3
dig.H3 = Fn.s32(data[2]);
// Special Bit arrangements for H4 & H5
//
// 0xE5 0xE4
// H4 [3:0] [11:4] signed short
// 0xE6 0xE5
// H5 [11:4] [3:0] signed short
dig.H4 = Fn.s32((data[3] << 4) | (data[4] & 0xF));
dig.H5 = Fn.s32((data[5] << 4) | (data[4] >> 4));
// 0xE7
dig.H6 = Fn.s8(data[6]);
resolve();
});
})
]).then(resolveCoeffs);
}.bind(this));
pCoefficients.then(function() {
/*
Table 19: Register 0xF2 "ctrl_hum"
Bit 2, 1, 0
Controls oversampling of humidity
osrs_h[2:0] Humidity oversampling
000 Skipped (output set to 0x8000)
001 oversampling ×1
010 oversampling ×2
011 oversampling ×4
100 oversampling ×8
101, others oversampling ×16
| | | HUM |
| 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| - | - | - | - | - | - | - | - |
| 0 | 0 | 0 | 0 | 0 | 1 | 0 | 1 |
*/
io.i2cWrite(address, this.REGISTER.MEASURE_H, 0x05);
/*
Table 22: Register 0xF2 "ctrl_meas"
Bit 7, 6, 5
Controls oversampling of temperature data
Bit 4, 3, 2
Controls oversampling of pressure data
Bit 1, 0
Controls the sensor mode of the device
osrs_h[2:0] Humidity oversampling
000 Skipped (output set to 0x8000)
001 oversampling ×1